/PROG  TL2_PICK
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "TOOL2 PICK";
PROG_SIZE	= 1287;
CREATE		= DATE 12-12-23  TIME 10:23:26;
MODIFIED	= DATE 25-01-02  TIME 22:18:08;
FILE_NAME	= TL2_PICK;
VERSION		= 0;
LINE_COUNT	= 26;
MEMORY_SIZE	= 1687;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  WAIT DI[26]=ON    ;
   6:J P[3:CLEAR] 50% CNT20    ;
   7:L P[4:APPROACH] 300mm/sec CNT50 ACC70    ;
   8:L P[5:APPROACH] 300mm/sec CNT50    ;
   9:L P[6:APPROACH] 300mm/sec FINE    ;
  10:  DO[13]=OFF ;
  11:  DO[14]=ON ;
  12:  WAIT DI[14]=ON    ;
  13:  WAIT    .50(sec) ;
  14:L P[7:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=ON    ;
  15:  WAIT   1.00(sec) ;
  16:  DO[14]=OFF ;
  17:  DO[13]=ON ;
  18:  WAIT DI[13]=ON    ;
  19:  WAIT   1.00(sec) ;
  20:L P[8:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21]=OFF    ;
  21:L P[9:APPROACH] 300mm/sec CNT50    ;
  22:  WAIT DI[26]=OFF    ;
  23:L P[10:APPROACH] 300mm/sec CNT50    ;
  24:L P[11:CLEAR] 500mm/sec CNT50 ACC70    ;
  25:   ;
  26:  MOVE TO HOME    ;
/POS
P[3:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=     8.454 deg,	J2=   -44.075 deg,	J3=    56.086 deg,
	J4=     -.003 deg,	J5=   -56.086 deg,	J6=   261.548 deg,
	E1=    16.095 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.857 deg,	J2=   -22.102 deg,	J3=    83.579 deg,
	J4=   -87.208 deg,	J5=  -110.680 deg,	J6=   -83.008 deg,
	E1=    16.095 deg
};
P[5:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -21.286 deg,	J2=   -20.177 deg,	J3=    75.812 deg,
	J4=   -82.397 deg,	J5=  -110.544 deg,	J6=   285.087 deg,
	E1=    16.098 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3197.848  mm,	Y =  -754.320  mm,	Z = -1419.298  mm,
	W =   161.255 deg,	P =    87.309 deg,	R =  -108.750 deg,
	E1=    16.099 deg
};
P[7:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3197.851  mm,	Y =  -518.484  mm,	Z = -1419.279  mm,
	W =   161.616 deg,	P =    87.287 deg,	R =  -108.409 deg,
	E1=    16.098 deg
};
P[8:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3198.071  mm,	Y =  -518.832  mm,	Z = -1275.997  mm,
	W =   156.327 deg,	P =    87.866 deg,	R =  -113.208 deg,
	E1=    16.098 deg
};
P[9:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -20.339 deg,	J2=   -20.700 deg,	J3=    71.837 deg,
	J4=   -81.467 deg,	J5=  -109.310 deg,	J6=   289.131 deg,
	E1=    16.096 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,	
	J1=   -21.008 deg,	J2=   -21.581 deg,	J3=    83.875 deg,
	J4=   -87.301 deg,	J5=  -110.844 deg,	J6=   -83.316 deg,
	E1=    16.095 deg
};
P[11:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,	
	J1=     8.454 deg,	J2=   -44.075 deg,	J3=    56.086 deg,
	J4=     -.003 deg,	J5=   -56.086 deg,	J6=   261.548 deg,
	E1=    16.095 deg
};
/END
